EP4197866B1 - Stabilitätskontrolle eines routenzugs - Google Patents

Stabilitätskontrolle eines routenzugs

Info

Publication number
EP4197866B1
EP4197866B1 EP22209374.2A EP22209374A EP4197866B1 EP 4197866 B1 EP4197866 B1 EP 4197866B1 EP 22209374 A EP22209374 A EP 22209374A EP 4197866 B1 EP4197866 B1 EP 4197866B1
Authority
EP
European Patent Office
Prior art keywords
towing tractor
weight
control unit
speed
tractor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP22209374.2A
Other languages
English (en)
French (fr)
Other versions
EP4197866A1 (de
Inventor
Monica Giovannucci
Tommaso PESSO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Material Handling Manufacturing Italy SpA
Original Assignee
Toyota Material Handling Manufacturing Italy SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Material Handling Manufacturing Italy SpA filed Critical Toyota Material Handling Manufacturing Italy SpA
Publication of EP4197866A1 publication Critical patent/EP4197866A1/de
Application granted granted Critical
Publication of EP4197866B1 publication Critical patent/EP4197866B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • B60T8/248—Trailer sway, e.g. for preventing jackknifing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/087—Lane monitoring; Lane Keeping Systems using active steering actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/16—Curve braking control, e.g. turn control within ABS control algorithm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/06—Tractor-trailer swaying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/02—Vehicle mass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/04—Vehicle reference speed; Vehicle body speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2260/00—Interaction of vehicle brake system with other systems
    • B60T2260/02—Active Steering, Steer-by-Wire

Definitions

  • Tugger trains including a towing tractor (or vehicle) towing a sequence of trailers is known in the art, e.g. for use in an industrial site and/or on a logistic site for transporting ware.
  • the trailers are connected in articulated manner with each other in sequence, wherein the first trailer is connected in an articulated manner to the towing tractor.
  • Tugger trains can be equipped with autonomous or semi-autonomous towing vehicles. It has been considered to equip the towing vehicle with a stability control system to avoid dangerous situations in which, for example, the towing vehicle may slip; the problem of instability of the tugger train is particularly felt in case the trailers are not provided with an independent braking system, or when the braking system of the trailers is not sufficient to prevent a "jack-knife" phenomenon.
  • DE 199 64 058 A1 relates to a dynamic stabilization device for vehicle tractor-trailer combination, that uses controlled automatic braking of trailer
  • the control unit 40 advantageously imposes a limit to the speed of the towing tractor, e.g. by activating a braking system 26.
  • the calculation of the maximum allowed speed may be periodically repeated in order to control the stability over time during the operation of the tugger train. Accordingly, the control unit may periodically check whether the current speed reaches the maximum allowed speed after recalculation of the maximum allowed speed. The period of recalculation of the maximum speed may be lower, e.g., than 1 s.
  • control unit 40 is configured to perform a stability control by imposing a upper limit to the speed of the towing tractor 11, wherein the upper limit increases when the total weight of the plurality of trailers 12 and of the respective carried loads 13 derived based on the information acquired by the acquiring means 24, 25 increases.
  • This is illustrated by the two curves 31, 32, in which the curve 31 relating to the case of maximum towed mass is above the curve 32 relating to the case of no load on the trailers.
  • the acquiring means include a weight input interface 24 that can be used by the user of the tugger train 10 to input the information relating to a weight carried by the trailers 12, e.g. the total weight of the trailers and of the load on the trailers.
  • the acquiring means are then configured to acquire the information relating to a weight of towed mass by receiving a weight indication inputted by a user of the towing tractor by means of the weight input interface 24.
  • the weight input interface includes a display, e.g. a touchscreen; the control unit 40 may be configured, when the towing tractor 11 is switched on, to cause the display to display a notification indicating to the user that an input of information relating to a weight of towed mass is required.
  • control unit 40 may acquire the predefined total weight stored in the memory 25 as the information relating to a weight if no input is received at the weight user interface 24 in the time between switching on the towing tractor and the time in which the towing tractor starts to move.
  • the weight user interface 24 may be configured to receive as input the number of trailers 12 connected to the towing tractor and/or the weight of the load carried by the each of the trailer 12 connected directly to the towing tractor 11.
  • Fig. 4 shows a possible implementation of the control unit 40 of the tugger train 10, e.g. mounted on the towing tractor 11.
  • the control unit 40 includes a processor 42, a memory 43 and a I/O interface 41.
  • the processor 42 is configured to execute a control software stored on the memory 43 to execute any of the functions of the control unit 40 as above described.
  • the processor 42 receives as input the information from the sensors 21-23 of the towing vehicle and/or information received by means of the I/O interface 41 and output control signals to the actuators 26, 27 of the towing vehicle using the I/O interface 41 as well.
  • the I/O interface 41 is also communicably connected to the input interface 24 to receive the information relating to a weight.
  • the I/O interface 41 may be also communicably connected to user interface 24 of the towing vehicle 11 to receive other inputs from the user and to output alerts or other information relating to the current status of the towing vehicle. Also other possible implementations of the control unit 40 can be conceived, e.g. including a plurality of distributed processors or the like.
  • a towing tractor configured to be used in a tugger train to tow a plurality of trailers connected in an articulated manner in sequence to the towing tractor for carrying loads, wherein the towing tractor includes:

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)

Claims (12)

  1. Routenzug (10), umfassend eine Zugmaschine (11) und eine Vielzahl von Anhängern (12), die mit der Zugmaschine (11) zum Tragen von Lasten in gelenkiger Weise verbunden sind, einschließend:
    - einen Geschwindigkeitssensor (21) zum Erfassen einer Geschwindigkeit der Zugmaschine,
    - einen Lenkwinkelsensor (22) zum Erfassen eines Lenkwinkels der Zugmaschine,
    - Erfassungsmittel (24, 25) zum Erfassen von Informationen über ein Gewicht einer von einem oder einer Vielzahl von Anhängern getragenen Last, und
    - eine Steuereinheit (40), die so konfiguriert ist, dass sie eine Stabilitätskontrolle durchführt, indem sie eine Begrenzung der Geschwindigkeit der Zugmaschine (11) auf der Grundlage einer Analyse der vom Geschwindigkeitssensor (21) erfassten Geschwindigkeit der Zugmaschine, des vom Lenkwinkelsensor (22) erfassten Lenkwinkels der Zugmaschine und der von den Erfassungsmitteln (24, 25) erfassten Informationen über ein Gewicht auferlegt,
    dadurch gekennzeichnet, dass die Erfassungsmittel eine Gewichtseingabeschnittstelle (24) einschließen und so konfiguriert sind, dass sie die Informationen über ein Gewicht erfassen, indem sie eine Gewichtsangabe empfangen, die von einem Benutzer der Zugmaschine mittels der Gewichtseingabeschnittstelle (24) eingegeben wird,
    wobei die Steuereinheit (40) so konfiguriert ist, dass sie ein vordefiniertes Gesamtgewicht, das in einem Speicher (25) gespeichert ist, als die sich auf ein Gewicht beziehende Informationen erfasst, wenn die Gewichtsbenutzerschnittstelle (24) keine sich auf das Gewicht beziehende Eingabe von dem Benutzer erhält, nach dem Ablauf des beim Einschalten der Zugmaschine (11) gestarteten Timers oder wenn in der Zeit zwischen Einschalten der Zugmaschine und dem Zeitpunkt, zu dem die Zugmaschine losfährt, keine Eingabe an der Gewichtsbenutzerschnittstelle (24) erfolgt.
  2. Routenzug (10) nach Anspruch 1, wobei die Zugmaschine (11) weiter einen Neigungssensor (23) zum Erfassen der Neigung der Zugmaschine in Bezug auf eine horizontale Ebene einschließt, wobei die Steuereinheit (40) so konfiguriert ist, dass sie die Stabilitätskontrolle durch Auferlegen der Begrenzung der Geschwindigkeit der Zugmaschine (11) auch auf der Grundlage der vom Neigungssensor (23) erfassten Neigung der Zugmaschine durchführt.
  3. Routenzug (10) nach Anspruch 1 oder 2, wobei die Steuereinheit (40) weiter so konfiguriert ist, dass sie die Stabilitätskontrolle durch Auferlegen einer Begrenzung des Lenkwinkels der Zugmaschine durchführt.
  4. Routenzug (10) nach Anspruch 3, wobei die Steuereinheit (40) so konfiguriert ist, dass sie die Begrenzung des Lenkwinkels durch Aktivieren von Gegenmitteln (27), die so konfiguriert sind, dass sie ein Drehmoment erzeugen, das einer von einem Benutzer befohlenen Drehung eines Lenkrads entgegenwirkt, oder durch Aktivieren von Mitteln zum Vibrieren des Lenkrads, auferlegt.
  5. Routenzug nach einem der Ansprüche 1, 2 oder 3, wobei die Steuereinheit so konfiguriert ist, dass sie auf der Grundlage der von den Erfassungsmitteln (24, 25) erfassten Informationen über ein Gewicht und/oder der von dem Neigungssensor (23) erfassten Neigung eine Instabilitätskurve (31, 32) berechnet, die eine maximale Zugmaschinengeschwindigkeit als eine Funktion eines aktuellen Lenkwinkels der Zugmaschine darstellt.
  6. Routenzug (10) nach Anspruch 5, wobei die Steuereinheit so konfiguriert ist, dass sie eine Begrenzung der Geschwindigkeit der Zugmaschine und/oder des Lenkwinkels der Zugmaschine auferlegt, wenn sich aktuelle Betriebsdaten, die die Zugmaschinengeschwindigkeit und den Zugmaschinenlenkwinkel darstellen, der Instabilitätskurve eines Abstands nähern, der niedriger als ein vorbestimmter Schwellenwert ist.
  7. Routenzug nach einem der vorstehenden Ansprüche, wobei die Steuereinheit (40) so konfiguriert ist, dass sie eine Stabilitätskontrolle durch Auferlegen einer oberen Grenze für die Geschwindigkeit der Zugmaschine (11) durchführt, wobei die obere Grenze ansteigt, wenn ein Gesamtgewicht der Vielzahl von Anhängern (12) und der jeweiligen getragenen Lasten (13), das auf der Grundlage der durch die Erfassungseinrichtung (24) erfassten Informationen abgeleitet wird, ansteigt.
  8. Routenzug nach einem der vorstehenden Ansprüche, wobei einer oder mehrere der Anhänger (12) kein an Bord des Anhängers montiertes Bremssystem einschließen.
  9. Routenzug nach Anspruch 8, wobei die Steuereinheit (40) mit einem Antriebssystem der Zugmaschine (11) gekoppelt ist und so konfiguriert ist, dass sie dieses steuert, wobei die Steuereinheit (40) so konfiguriert ist, dass sie die Begrenzung der Geschwindigkeit der Zugmaschine (11) durch eine Steuerung des Antriebssystems der Zugmaschine auferlegt.
  10. Routenzug nach einem der Ansprüche 9-10, wobei die Steuereinheit (40) mit einem Bremssystem (26) der Zugmaschine (11) gekoppelt ist und so konfiguriert ist, dass sie dieses steuert, wobei die Steuereinheit (40) so konfiguriert ist, dass sie die Begrenzung der Geschwindigkeit der Zugmaschine (11) durch Aktivieren des Bremssystems der Zugmaschine auferlegt.
  11. Routenzug nach einem der Ansprüche 1-10, wobei die Gewichtseingabeschnittstelle (24) eine Anzeige einschließt; wobei die Steuereinheit (40) so konfiguriert ist, dass sie beim Einschalten der Zugmaschine bewirkt, dass auf der Anzeige eine Benachrichtigung angezeigt wird, die den Benutzer darauf hinweist, dass eine Eingabe von Informationen über ein Gewicht einer von einem oder mehreren der Vielzahl von Anhängern getragenen Last erforderlich ist.
  12. Routenzug nach Anspruch 11, wobei, wenn die Steuereinheit (40) das vordefinierte Gesamtgewicht, das in dem Speicher (25) gespeichert ist, als die Informationen, die sich auf ein Gewicht beziehen, erfasst, die Steuereinheit (40) konfiguriert ist, um zu bewirken, dass die Anzeige aufhört, die Benachrichtigung anzuzeigen, die den Benutzer darauf hinweist, dass eine Eingabe von Informationen, die sich auf ein Gewicht einer Last beziehen, die von einem oder mehreren der Vielzahl von Anhängern getragen wird, erforderlich ist.
EP22209374.2A 2021-12-16 2022-11-24 Stabilitätskontrolle eines routenzugs Active EP4197866B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT202100031574 2021-12-16

Publications (2)

Publication Number Publication Date
EP4197866A1 EP4197866A1 (de) 2023-06-21
EP4197866B1 true EP4197866B1 (de) 2025-07-16

Family

ID=80933372

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22209374.2A Active EP4197866B1 (de) 2021-12-16 2022-11-24 Stabilitätskontrolle eines routenzugs

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EP (1) EP4197866B1 (de)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19964058B4 (de) * 1999-12-30 2015-11-12 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Einrichtung und Verfahren zum Stabilisieren eines Gespanns aus einer Zugmaschine und zumindest einem Auflieger oder Anhänger
US7369927B2 (en) * 2004-04-02 2008-05-06 Continental Teves, Inc. Active rollover protection utilizing steering angle rate map
SE533870C2 (sv) * 2005-07-11 2011-02-15 Volvo Lastvagnar Ab System och förfarande för stabilisering av en fordonskombination
DE102009011907A1 (de) * 2009-03-05 2010-09-09 Bayerische Motoren Werke Aktiengesellschaft System und Verfahren zur Verarbeitung von Daten zur Stabiliesierung eines Gespanns
DE102013007854A1 (de) * 2013-05-08 2014-11-13 Jungheinrich Aktiengesellschaft Flurförderzeug für einen Routenzug
EP3613652B1 (de) * 2018-08-22 2021-12-29 AGCO Corporation Überrollschutz für erntemaschinen mit elektronischer lenkung

Also Published As

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